File content as of revision 7:f4f0939f9df3:

#include "mbed.h"
#include "math.h"
#include "MODSERIAL.h"
#include "QEI.h"
#include "BiQuad.h"
#include "MovingAverage.h"
#define NSAMPLE 200

//states
enum States {Waiting, Homing, Emergency, EMGCal, MotorCal, Operation, Demo};

// Global variables
States CurrentState;
Ticker TickerLoop;
Timer TimerLoop;

//Communication
MODSERIAL pc(USBTX,USBRX);
QEI Encoder1(D10,D11,NC,32);    // Encoder motor q1 (arm)
QEI Encoder2(D12,D13,NC,32);    // Encoder motor q2 (end-effector)

//EMG settings
AnalogIn emg0(A0); //Biceps Left
AnalogIn emg1(A1); //Biceps Right
MovingAverage <double>Movag_LB(NSAMPLE,0.0); //Make Moving Average, Define NSAMPLE above 
MovingAverage <double>Movag_RB(NSAMPLE,0.0);
    
    // filters
//Make Biquad filters Left(a0, a1, a2, b1, b2) 
BiQuadChain bqc1; //chain voor High Pass en Notch
BiQuad bq1(0.39131200825291007, -0.7826240165058201, 0.39131200825291007, -0.36950493743858204, 0.1957430955730582); //High Pass Filter
BiQuad bq2(9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01); //Notch Filter
//Make Biquad filters Right
BiQuadChain bqc2; //chain voor High Pass en Notch
BiQuad bq3(0.39131200825291007, -0.7826240165058201, 0.39131200825291007, -0.36950493743858204, 0.1957430955730582); //High Pass Filter
BiQuad bq4(9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01); //Notch Filter


//Global pin variables Motors 1
PwmOut PwmPin1(D5);
DigitalOut DirectionPin1(D4);

//Global pin variables Motors 2
PwmOut PwmPin2(D6);
DigitalOut DirectionPin2(D7);

//Output LED
DigitalOut LedRed (LED_RED);
DigitalOut LedGreen (LED_GREEN);
DigitalOut LedBlue (LED_BLUE);

// Buttons
DigitalIn BUTSW2(SW2);
DigitalIn BUTSW3(SW3);
DigitalIn BUT1(D8);
DigitalIn BUT2(D9);

//Constant variables
const float L0 = 0.1; // Distance between origin frame and joint 1 [m[
const float L1 = 0.326; // Length link 1 (shaft to shaft) [m] 
const float L2 = 0.209; // Length link 2 (end-effector length) [m]
const double Ts = 0.002; //Sampling time 500 Hz

 
// Volatile variables
//Motor calibration
volatile bool NextMotorFlag = false;

//EMG
volatile bool EMGBoolLeft; // Boolean EMG 1 (left)
volatile bool EMGBoolRight; // Boolean EMG 2 (right)
volatile double LeftBicepsOut; // Final value left of processed EMG
volatile double RightBicepsOut; // Final value right of processed EMG
volatile double ThresholdLeft = 1; //Threshold to compare with value (start off with max value = 1)
volatile double ThresholdRight = 1; //Threshold to compare with value (start off with max value = 1)

// Reference positions
volatile float q1Ref = 0;
volatile float q2Ref = 0;

//Motors
volatile float q1 = 0; // Current angle of motor 1 (arm)
volatile float q2 = 0; // Current angle of motor 2 (end-effector)
volatile float MotorValue1; // Inputvalue to set motor 1 
volatile float MotorValue2; // Inputvalue to set motor 2

//Inverse kinematics
volatile float VdesX; // Desired velocity in x direction
volatile float VdesY; // Desired velocity in y direction
volatile float Error1; // Difference in reference angle and current angle motor 1
volatile float Error2; // Difference in reference angle and current angle motor 2

//Print to screen
volatile int PrintFlag = false;
volatile int CounterPrint = 0;


//------------------------------------------------------------------------------
//------------------------------------------------------------------------------

void PrintToScreen()
{
 CounterPrint++;
 if (CounterPrint == 100)
 {
       PrintFlag = true;
       CounterPrint = 0;
 }
}

// Function to set motors off
void SetMotorsOff()
{
    // Turn motors off
    PwmPin1 = 0; 
    PwmPin2 = 0;
    
}

// Function for processing EMG
    void ProcessingEMG()
    {
    //Filter Left Biceps
    double LB_Filter_1 = bqc1.step(emg0.read()); //High Pass + Notch
    double LB_Rectify = fabs(LB_Filter_1); //Rectify Signal 
    Movag_LB.Insert(LB_Rectify); //Moving Average
    LeftBicepsOut = Movag_LB.GetAverage(); //Get final value
    
    //Filter Right Biceps
    double RB_Filter_1 = bqc2.step(emg1.read()); //High Pass + Notch
    double RB_Rectify = fabs(RB_Filter_1); //Rectify Signal
    Movag_RB.Insert(RB_Rectify); //Moving Average 
    RightBicepsOut = Movag_RB.GetAverage();  //Get final value
    
    if (LeftBicepsOut > ThresholdLeft) 
        {
            EMGBoolLeft = true;
        }
    else 
        {
            EMGBoolLeft = false;
        }
    if (RightBicepsOut > ThresholdRight) 
        {
            EMGBoolRight = true;
        }
    else 
        {
            EMGBoolRight = false;
        }
    
    } 

void MeasureAll()
{
    //Processing and reading EMG
    ProcessingEMG();

    //Measure current motor angles
    float Counts1 = Encoder1.getPulses();
    float Counts2 = Encoder2.getPulses();
    q1 = Counts1/8400*(2*6.28318530718); //angle motor 1 (Times 2 to compensate for endcoding X4 --> X2)
    q2 = Counts2/8400*(2*6.28318530718); // angle motor 2 (Times 2 to compensate for endcoding X4 --> X2)
    

    
}

// Function to set desired cartesian velocities of end-effector
void Vdesired()
{
    double Vconst = 0.05; // m/s (5 cm per second)
    VdesX = EMGBoolLeft*Vconst; // Left biceps is X-direction
    VdesY = -1*EMGBoolRight*Vconst; // Right biceps is minus Y-direction
}

// Inverse Kinematics
void InverseKinematics()
{
    // matrix inverse Jacobian
    double InvJac11 = (L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) - L1*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))/((L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) - L1*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1)) - (L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) + L1*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1)));
    double InvJac12 = -(L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) + L1*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))/((L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) - L1*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1)) - (L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) + L1*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1)));  
    double InvJac21 = -(L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))/((L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) - L1*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1)) - (L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) + L1*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1)));
    double InvJac22 = (L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))/((L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) - L1*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1)) - (L2*(cos(q1)*sin(q2) + cos(q2)*sin(q1)) + cos(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) - L0*cos(q1) + (cos(q1)*cos(q2) - sin(q1)*sin(q2))*(L0 + L1) + sin(q1)*sin(q2)*(L0 + L1))*(L2*(cos(q1)*cos(q2) - sin(q1)*sin(q2)) - sin(q1)*(L0 + L1 - cos(q2)*(L0 + L1)) + L0*sin(q1) + L1*sin(q1) - (cos(q1)*sin(q2) + cos(q2)*sin(q1))*(L0 + L1) + cos(q1)*sin(q2)*(L0 + L1)));
    
    //Gear Ratio's
    double RatioGears = 134.0/30.0; //Gear Ratio for motor 1
    double RatioPulleys = 87.4/27.5; // Gear Ratio for motor 2
    
    double q1DotRef = (InvJac11*VdesX + InvJac12*VdesY)*RatioGears; //reference angular velocity motor 1
    double q2DotRef = (InvJac21*VdesX + InvJac22*VdesY)*RatioPulleys; //reference angular velocity motor 2
     
    q1Ref = q1 + q1DotRef*Ts; // set new reference position motor angle 1
    q2Ref = q2 + q2DotRef*Ts; // set new reference position motor angle 1
}

//State machine
void StateMachine()
{
    switch (CurrentState)
    {
        case Waiting:
            SetMotorsOff();
            Encoder1.reset();
            q1Ref = 0;
            q1 = 0;
            Error1 = 0;
            Encoder2.reset();
            q2Ref = 0;
            q2 = 0;
            Error2 = 0;
            
            LedRed = 0;
            LedGreen = 0;
            LedBlue = 1; //Yellow
            
            if (BUT2 == false)
            {
                CurrentState = EMGCal;
                TimerLoop.reset();
            }
            
        break;
        
        case Homing:
            LedRed = 0;
            LedGreen = 0;
            LedBlue = 0; //White
            if (BUT2 == false)
            {
                CurrentState = Demo;
                TimerLoop.reset();    
            }
            
            if (BUT1 == false)
            {
                CurrentState = Operation;
                TimerLoop.reset();    
            }
        break;  
        
        case Emergency:
            LedRed = 0;
            LedGreen = 1;
            LedBlue = 1; //Red
        break;
              
        case EMGCal:
            LedRed = 0;
            LedGreen = 1;
            LedBlue = 0; //Pink
            static double MaxLeft = 0;
            static double MaxRight = 0;
            
                if(LeftBicepsOut > MaxLeft) 
                {
                    MaxLeft = LeftBicepsOut;
                }
    
                if(RightBicepsOut > MaxRight)
                {
                    MaxRight = RightBicepsOut;
                }
                
            if (BUT1 == false)
            {
                ThresholdLeft = abs(0.15000*MaxLeft);
                ThresholdRight = abs(0.15000*MaxRight);
                pc.printf("ThresholdLeft = %f and ThresholdRight = %f\r\n",ThresholdLeft,ThresholdRight);
                TimerLoop.reset();
            }
            if ((ThresholdLeft<0.9) && (ThresholdRight <0.9) && (TimerLoop.read() >= 2.0))
            {
                CurrentState = MotorCal;
                TimerLoop.reset();
            }
        break;
        
        case MotorCal:
            LedRed = 1;
            LedGreen = 0;
            LedBlue = 0; //Turqoise
        
        if (NextMotorFlag == false)
        {   
            if (BUT1==false) 
            {
                q1Ref += 0.0005*(6.2830);
            }
            if (BUTSW3 == false) 
            {
                q1Ref = 0;
                Encoder1.reset();
            }
            if (BUT2 == false)
            {
                q1Ref -=0.0005*(6.2830);
            }
            if (BUTSW2 == false) 
            {
                if (q1Ref<=0.733*(6.2830))
                {
                    q1Ref +=0.0005*(6.2830);
                }
                else
                {
                    TimerLoop.reset();
                    NextMotorFlag = true; 
                }
                
            } //End of if (BUTSW2 == false)
        } //End of if (NextMotorFlag == false)
        
        else if ((NextMotorFlag == true) && (TimerLoop.read()>= 2))
        {
            if (BUT1==false) 
            {
                q2Ref += 0.0005*(6.2830);
            }
            if (BUTSW3 == false)
            {
                q2Ref = 0;
                Encoder2.reset();
            }
            if (BUT2 == false)
            {
                q2Ref -= 0.0005*(6.2830);
            }
            if (BUTSW2 == false) 
            {
                if (q2Ref>=-0.52*(6.2830)) 
                {
                    q2Ref -=0.0005*(6.2830);
                }
                else
                {
                    CurrentState = Homing;
                    Encoder1.reset();
                    Encoder2.reset();
                    q1Ref = 0;
                    q2Ref = 0;
                    TimerLoop.reset();
                }
            } // end of if (BUTSW2) statement
        }// end of else if statement
        
        break;
              
        case Operation:
            LedRed = 1;
            LedGreen = 0;
            LedBlue = 1; //Green
        break;
        
        case Demo:
            LedRed = 1;
            LedGreen = 1;
            LedBlue = 0; //Blue     
            
            //if (TimerLoop.read() <= 5.0)
            //{
               // if((EMGBoolLeft == true) || (EMGBoolRight == true))
                //{
                   TimerLoop.reset();
                   Vdesired();
                   InverseKinematics();    
                //}
            //}
            //else
            //{
               // q1Ref = 0;
               // q2Ref = 0;
               // Error1 = q1Ref - q1;
               // Error2 = q2Ref - q2;
              //  if ((Error1 <= 0.1) && (Error2 <= 0.1))
                //{
                //    TimerLoop.reset();
               // }
              
        break;
        

    } //End of switch
} // End of stateMachine function

//------------------------------------------------------------------------------

void SetErrors()
{
    Error1 = q1Ref - q1;
    Error2 = q2Ref - q2;
}
//------------------------------------------------------------------------------
// controller motor 1
 void PID_Controller1()
 {
   double Kp = 11.1; // proportional gain
   double Ki = 2.24;//integral gain
   double Kd = 1.1;  //derivative gain
   static double ErrorIntegral = 0;
   static double ErrorPrevious = Error1;
   static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
   
   //Proportional part:
   double u_k = Kp * Error1;
   
   //Integral part:
   ErrorIntegral = ErrorIntegral + Error1*Ts;
   double u_i = Ki * ErrorIntegral;
   
   //Derivative part:
   double ErrorDerivative = (Error1 - ErrorPrevious)/Ts;
   double FilteredErrorDerivative = LowPassFilter.step(ErrorDerivative);
   double u_d = Kd * FilteredErrorDerivative;
   ErrorPrevious = Error1;
   
   MotorValue1 =  u_k + u_i + u_d; //This will become the MotorValue to set motor 1
 }
   
// controller motor 2
 void PID_Controller2()
 {
   double Kp = 11.1; // proportional gain
   double Ki = 22.81;//integral gain
   double Kd = 1.7;  //derivative gain
   static double ErrorIntegral = 0;
   static double ErrorPrevious = Error2;
   static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
   
   //Proportional part:
   double u_k = Kp * Error2;
   
   //Integral part:
   ErrorIntegral = ErrorIntegral + Error2*Ts;
   double u_i = Ki * ErrorIntegral;
   
   //Derivative part:
   double ErrorDerivative = (Error2 - ErrorPrevious)/Ts;
   double FilteredErrorDerivative = LowPassFilter.step(ErrorDerivative);
   double u_d = Kd * FilteredErrorDerivative;
   ErrorPrevious = Error2;
   
   MotorValue2 =  u_k + u_i + u_d; //This will become the MotorValue to set motor 2
 }

// Main function for motorcontrol
void MotorControllers()
{   
    PID_Controller1();
    PID_Controller2();
    
}
//------------------------------------------------------------------------------

//Ticker function set motorvalues
void SetMotors()
{
// Motor 1
    if (MotorValue1 >=0) // set direction
    {
        DirectionPin1 = 1;
    }
    else
    {
        DirectionPin1 = 0;
    }
    
    if (fabs(MotorValue1)>1) // set duty cycle
    {
        PwmPin1 = 1; 
    }
    else
    {
        PwmPin1 = fabs(MotorValue1);
    }
    
// Motor 2
    if (MotorValue2 >=0) // set direction
    {
        DirectionPin2 = 1;
    }
    else
    {
        DirectionPin2 = 0;
    }
    
    if (fabs(MotorValue2)>1) // set duty cycle
    {
        PwmPin2 = 1; 
    }
    else
    {
        PwmPin2 = fabs(MotorValue2);
    }

}




//-----------------------------------------------------------------------------


// Execution function
void LoopFunction()
{
    MeasureAll();
    StateMachine();
    SetErrors();
    MotorControllers();
    SetMotors();
    PrintToScreen();
}

int main()
{
    pc.baud(115200);
    pc.printf("Hi I'm PTR, you can call me Peter!\r\n");
    TimerLoop.start(); // start Timer
    CurrentState = Waiting; // set initial state as Waiting
    bqc1.add( &bq1 ).add( &bq2 ); //make BiQuadChain EMG left
    bqc2.add( &bq3 ).add( &bq4 ); //make BiQuadChain EMG right
    TickerLoop.attach(&LoopFunction, 0.002f); //ticker for function calls 500 Hz
    
    while (true)
    {
        if (PrintFlag == true)
        {
            pc.printf("THleft = %f,THRight = %f,EMG left = %i, EMG right = %i, q1Ref = %f, q1 = %f, q2Ref = %f, q2 = %f,Error1 = %f, Error2 = %f\r",ThresholdLeft,ThresholdRight,EMGBoolLeft,EMGBoolRight,q1Ref,q1,q2Ref,q2,Error1,Error2);
        }
    }
    
}